MyPKM
Robotics Kinematics
Moveit2
Assignment Guide
EEE60204_Assignment_20250224
PDF
hello_moveit.cpp (tutorial 3)
Hello_moveit.cpp (Tutorial 4)
Links
Moveit2 Installation
Moveit2 Tutorial 1
Moveit2 Tutorial 2
Moveit2 Tutorial 3
Moveit2 Tutorial 4
Moveit2 Tutorial 5
Moveit2 Tutorial 6
Moveit2 Tutorial 7
mtc_node.cpp (Tutorial 5)
mtc_node.cpp (Tutorial 6)
Index

Moveit2 Tutorial 1

Launch Moveit 2

  • Run Docker - Open a new terminal and run:
xhost +local:docker

xhost +local:docker && sudo docker run -it --net=host --ipc=host --pid=host --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --env="XAUTHORITY=$XAUTH" --volume="$XAUTH:$XAUTH"   -e LIBGL_ALWAYS_SOFTWARE=1  moveit/moveit2:main-jazzy-tutorial-source
  • Launch the RVIZ demo
ros2 launch moveit2_tutorials demo.launch.py
  • You will see the RViz interface:

Pasted image 20250209205235.png

  • Under "Displays" panel (top-left) , find "MotionPlanning", expand it.

Pasted image 20250209210120.png

  • Under the same tree, find "Planning Request", then "Planning Group", change it to "manipulator"

Pasted image 20250209210429.png

  • You will see the robot change to this:
    Pasted image 20250209210545.png

  • Try to move the robotic arm with mouse cursor, and also try to rotate the circle rings.

Moving Joints

  1. Check the Show Robot Visual checkbox in the Planned Path tree menu

  2. Check the Query Goal State checkbox in the Planning Request tree menu.

  3. Go to "Joints" tab of MotionPlanning, then try to change the joint values.

Pasted image 20250209214609.png

Motion Planning

  • Now, you can start motion planning with the Kinova Gen 3 in the MoveIt RViz Plugin.
    • Move the Start State to a desired location.
    • Move the Goal State to another desired location.
    • Make sure both states are not in collision with the robot itself.
    • Un-check the Show Trail checkbox in the Planned Path tree menu.
  • In the MotionPlanning window under the Planning tab, press the Plan button.
  • Check the Show Trail checkbox in the Planned Path tree menu. You should see the arm’s path represented by a series of manipulator poses.

Pasted image 20250209215025.png

Introspecting Trajectory Waypoints

You can visually introspect trajectories point by point in RViz.

  • From “Panels” menu, select “Trajectory - Trajectory Slider”. You’ll see a new Slider panel on RViz.
  • Set your goal pose, then run Plan.
  • Play with the “Slider” panel, e.g. move the slider, push “Play” button.

Note: Once you placed your end-effector to a new goal, be sure to run Plan before running Play – otherwise you’ll see the waypoints for the previous goal if available.

Pasted image 20250209215637.png

Plan Cartesian motions

If the “Use Cartesian Path” checkbox is activated, the robot will attempt to move the end effector linearly in cartesian space.
Pasted image 20250209215829.png

Clicking “Plan & Execute” or “Execute” after a successful plan will send the trajectory to the robot - in this tutorial, since you used kinova_demo.launch, the robot is only simulated.

Initially, the default velocity and acceleration are scaled to 10% (0.1) of the robot’s maximum. You can change these scaling factors in the Planning tab shown below, or change these default values in the moveit_config of your robot (in joint_limits.yaml).

Pasted image 20250209220047.png

Go to Tutorial 2 Moveit2 Tutorial 2

Reference : MoveIt Quickstart in RViz — MoveIt Documentation: Rolling documentation